Construction of Roadmaps for Mobile Robots' Navigation Using RGB-D Cameras

被引：0
|
作者：
Savage, Jesus [1 ]
Contreras, Luis [1 ]
Figueroa, Israel [1 ]
Pacheco, Abel [1 ]
Bermudez, Alejandro [1 ]
Negrete, Marco [1 ]
Matamoros, Mauricio [1 ]
Rivera, Carlos [1 ]
机构：
[1] Univ Nacl Autonoma Mexico, Biorobot Lab, Mexico City 04510, DF, Mexico
来源：
INTELLIGENT AUTONOMOUS SYSTEMS 13 | 2016年 / 302卷
关键词：
Space representations; Roadmaps for mobile robots; Vector quantization clustering;
D O I：
10.1007/978-3-319-08338-4_17
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes the construction of roadmaps for mobile robots using vector quantization clustering of the free space. A RGB-D camera is used to find planes that represent objects in the environment as well as walls and floors. The free space is found by separating the objects' and walls' planes from the floor's plane, that represents the space where the mobile robot navigates. Vector quantization technique is used to partition the free space into regions, and the centroids of the regions become the nodes of a roadmap, that is used by a mobile robot to navigate.
引用
收藏
页码：217 / 229
页数：13
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